clear all
filename='exp1_26m_1497608769.mat';
load(filename);
% gps base
gpsagentdata = gpsdatafilter(gpsagent);

figure(1);
gpsagentmean = mean(gpsagentdata,1);
tmpdata = gpsagentdata-repmat(gpsagentmean,size(gpsagentdata,1),1);
distance=sqrt( sum(tmpdata.^2,2));
hist(distance,100);
figure(2);
scatter3(gpsagentdata(:,1)-gpsagentmean(1),gpsagentdata(:,2)-gpsagentmean(2),gpsagentdata(:,3)-gpsagentmean(3));
% hist(gpsagentdata(:,1)-gpsagentmean(1),100)

gpsbasedata = gpsdatafilter(gpsbase);
figure(3);
gpsagentmean = mean(gpsbasedata,1);
tmpdata = gpsbasedata-repmat(gpsagentmean,size(gpsbasedata,1),1);
distance=sqrt( sum(tmpdata.^2,2));
hist(distance,100);
figure(4);
scatter3(gpsbasedata(:,1)-gpsagentmean(1),gpsbasedata(:,2)-gpsagentmean(2),gpsbasedata(:,3)-gpsagentmean(3));

uwbdata  = uwbdatafilter(uwb);

figure(5);
hist(uwbdata,100);